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Title: Sliding-Mode Disturbance Observer With Switching-Gain Adaptation and Its Application to Optical Disk Drives
Authors: 國立臺灣師範大學機電工程學系
Lu, Yu-Sheng
Issue Date: 1-Sep-2009
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract: This paper deals with the design of a sliding-mode disturbance observer (SDOB) with switching-gain adaptation for a class of nonlinear systems subject to exogenous signals. The proposed SDOB, referred to as IMP-SDOB, is based on the internal-model principle and thus achieves robust asymptotic disturbance estimation, whereas the conventional SDOB leads to nonzero estimation error to a time-varying disturbance. Moreover, while the conventional SDOB needs a switching gain greater than the magnitude of an unknown disturbance, the proposed IMP-SDOB design releases this constraint and requires only a small switching gain as compared with a conventional design, further alleviating the chattering problem. The stability of the combined controller-observer system is derived on the basis of a Lyapunov analysis. Moreover, in contrast with the previous switching-gain adaptation law that inevitably yields a nondecreasing switching gain and asymptotic convergence of the switching function, a novel adaptation law is proposed to reduce the switching gain whenever appropriate and to guarantee finite-time convergence of the switching function. The effectiveness of the proposed scheme is demonstrated through experimental studies on the track-following system of an optical disk drive suffering from significant disk runout.
ISSN: 0278-0046
Other Identifiers: ntnulib_tp_E0404_01_003
Appears in Collections:教師著作

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